Proceedings of the 42nd Conference on Robotics and Remote Systems

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However, before the arm can actually move to the object, it must first determine
which of the 8100 tag points is closest ... The coder wheels were simply created
in AutoCAD, printed on a transparency using a LaserJet series U, cut out by hand
... An optical sensor with a Schmidt trigger and amplifier was manufactured and
mated to the coder wheel without the alignment problems of the stock HP
encoders.